<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
<html lang="en">
<head>
<title>Source code</title>
<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
</head>
<body>
<div class="sourceContainer">
<pre><span class="sourceLineNo">001</span>package org.nashua.tt151;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import com.sun.squawk.io.BufferedWriter;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.Relay;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import java.io.IOException;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import java.io.InputStreamReader;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import java.io.OutputStreamWriter;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import javax.microedition.io.Connector;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import javax.microedition.io.SocketConnection;<a name="line.9"></a>
<span class="sourceLineNo">010</span>import org.nashua.tt151.util.MathTools;<a name="line.10"></a>
<span class="sourceLineNo">011</span>import org.nashua.tt151.libraries.parsers.ProtocolParsing;<a name="line.11"></a>
<span class="sourceLineNo">012</span><a name="line.12"></a>
<span class="sourceLineNo">013</span>/**<a name="line.13"></a>
<span class="sourceLineNo">014</span> * Communication with Dashboard utilizing the custom ProtocolParsing library.<a name="line.14"></a>
<span class="sourceLineNo">015</span> * @author Brian Ashworth<a name="line.15"></a>
<span class="sourceLineNo">016</span> * @version 1.1<a name="line.16"></a>
<span class="sourceLineNo">017</span> */<a name="line.17"></a>
<span class="sourceLineNo">018</span>public class Dash {<a name="line.18"></a>
<span class="sourceLineNo">019</span>    /**<a name="line.19"></a>
<span class="sourceLineNo">020</span>     * Connection object that holds the connection to the dashboard.<a name="line.20"></a>
<span class="sourceLineNo">021</span>     */<a name="line.21"></a>
<span class="sourceLineNo">022</span>    private Connection con;<a name="line.22"></a>
<span class="sourceLineNo">023</span>    /**<a name="line.23"></a>
<span class="sourceLineNo">024</span>     * Connection from cRIO to laptop<a name="line.24"></a>
<span class="sourceLineNo">025</span>     * @param host IP Address of the laptop<a name="line.25"></a>
<span class="sourceLineNo">026</span>     * @param cl Listener for this connection<a name="line.26"></a>
<span class="sourceLineNo">027</span>     * @throws IOException<a name="line.27"></a>
<span class="sourceLineNo">028</span>     */<a name="line.28"></a>
<span class="sourceLineNo">029</span>    public Dash(String host, ConnectionListener cl) throws IOException {<a name="line.29"></a>
<span class="sourceLineNo">030</span>        con = new Connection(host, 1735, cl);<a name="line.30"></a>
<span class="sourceLineNo">031</span>    }<a name="line.31"></a>
<span class="sourceLineNo">032</span>    /**<a name="line.32"></a>
<span class="sourceLineNo">033</span>     * Query the dashboard for the speed (in ft/s) to set the shooter to<a name="line.33"></a>
<span class="sourceLineNo">034</span>     * @param t Target ti get speed for<a name="line.34"></a>
<span class="sourceLineNo">035</span>     * @return The speed (in ft/s) to set the shooter to or -1 on failure<a name="line.35"></a>
<span class="sourceLineNo">036</span>     * @throws NumberFormatException<a name="line.36"></a>
<span class="sourceLineNo">037</span>     * @throws IOException <a name="line.37"></a>
<span class="sourceLineNo">038</span>     */<a name="line.38"></a>
<span class="sourceLineNo">039</span>    public double queryShooterSpeed(Target t) throws NumberFormatException, IOException {<a name="line.39"></a>
<span class="sourceLineNo">040</span>        /* Send query to the dashboard<a name="line.40"></a>
<span class="sourceLineNo">041</span>         * No Value<a name="line.41"></a>
<span class="sourceLineNo">042</span>         * Arguments:<a name="line.42"></a>
<span class="sourceLineNo">043</span>         *   Analog Device Type<a name="line.43"></a>
<span class="sourceLineNo">044</span>         */<a name="line.44"></a>
<span class="sourceLineNo">045</span>        con.send(ProtocolParsing.StringParser.createMessage(ProtocolParsing.Command.Query, <a name="line.45"></a>
<span class="sourceLineNo">046</span>                ProtocolParsing.Key.ShooterSpeed, "", new String[]{""+t.getID()}));<a name="line.46"></a>
<span class="sourceLineNo">047</span>        // Wait for result<a name="line.47"></a>
<span class="sourceLineNo">048</span>        String[][] result = null;<a name="line.48"></a>
<span class="sourceLineNo">049</span>        while ((result=con.getKeyFromQueue(ProtocolParsing.Key.ShooterSpeed))==null) {<a name="line.49"></a>
<span class="sourceLineNo">050</span>        }<a name="line.50"></a>
<span class="sourceLineNo">051</span>        // Verify non null value and parse the double from the string<a name="line.51"></a>
<span class="sourceLineNo">052</span>        if (result.length&gt;1 &amp;&amp; result[1].length&gt;0) {<a name="line.52"></a>
<span class="sourceLineNo">053</span>            return Double.parseDouble(result[1][0]);<a name="line.53"></a>
<span class="sourceLineNo">054</span>        }<a name="line.54"></a>
<span class="sourceLineNo">055</span>        // Return -1 on null result<a name="line.55"></a>
<span class="sourceLineNo">056</span>        return -1;<a name="line.56"></a>
<span class="sourceLineNo">057</span>    }<a name="line.57"></a>
<span class="sourceLineNo">058</span>    /**<a name="line.58"></a>
<span class="sourceLineNo">059</span>     * Send the value of an analog sensor to the dashboard to display<a name="line.59"></a>
<span class="sourceLineNo">060</span>     * @param value Value of the analog sensor<a name="line.60"></a>
<span class="sourceLineNo">061</span>     * @param name Name of the sensor to display on the dashboard<a name="line.61"></a>
<span class="sourceLineNo">062</span>     * @param slot PWM Slot on the analog module<a name="line.62"></a>
<span class="sourceLineNo">063</span>     * @param at The analog device type (gyro, accelerometer, etc)<a name="line.63"></a>
<span class="sourceLineNo">064</span>     * @throws IOException <a name="line.64"></a>
<span class="sourceLineNo">065</span>     */<a name="line.65"></a>
<span class="sourceLineNo">066</span>    public void sendAnalog(int value, String name, int slot, AnalogType at) throws IOException {<a name="line.66"></a>
<span class="sourceLineNo">067</span>        /* Send the analog value to the dashboard<a name="line.67"></a>
<span class="sourceLineNo">068</span>         * Value: analog value<a name="line.68"></a>
<span class="sourceLineNo">069</span>         * Arguments:<a name="line.69"></a>
<span class="sourceLineNo">070</span>         *   Name<a name="line.70"></a>
<span class="sourceLineNo">071</span>         *   Slot<a name="line.71"></a>
<span class="sourceLineNo">072</span>         *   Analog Type<a name="line.72"></a>
<span class="sourceLineNo">073</span>         */<a name="line.73"></a>
<span class="sourceLineNo">074</span>        con.send(ProtocolParsing.StringParser.createMessage(ProtocolParsing.Command.Send, <a name="line.74"></a>
<span class="sourceLineNo">075</span>                ProtocolParsing.Key.AnalogValue, ""+value, new String[]{name, ""+slot, at.toString()}));<a name="line.75"></a>
<span class="sourceLineNo">076</span>    }<a name="line.76"></a>
<span class="sourceLineNo">077</span>    /**<a name="line.77"></a>
<span class="sourceLineNo">078</span>     * Send the camera angle to the dashboard for target calculations<a name="line.78"></a>
<span class="sourceLineNo">079</span>     * @param value Camera angle<a name="line.79"></a>
<span class="sourceLineNo">080</span>     * @throws IOException <a name="line.80"></a>
<span class="sourceLineNo">081</span>     */<a name="line.81"></a>
<span class="sourceLineNo">082</span>    public void sendCameraAngle(double value) throws IOException {<a name="line.82"></a>
<span class="sourceLineNo">083</span>        /* Send the camera angle to the dashboard<a name="line.83"></a>
<span class="sourceLineNo">084</span>         * Value: degrees in the format ##.##<a name="line.84"></a>
<span class="sourceLineNo">085</span>         * Arguments: None<a name="line.85"></a>
<span class="sourceLineNo">086</span>         */<a name="line.86"></a>
<span class="sourceLineNo">087</span>        con.send(ProtocolParsing.StringParser.createMessage(ProtocolParsing.Command.Send, <a name="line.87"></a>
<span class="sourceLineNo">088</span>                ProtocolParsing.Key.CamAngle, ""+MathTools.round(value, 2), null));<a name="line.88"></a>
<span class="sourceLineNo">089</span>    }<a name="line.89"></a>
<span class="sourceLineNo">090</span>    /**<a name="line.90"></a>
<span class="sourceLineNo">091</span>     * Send the value of the encoder to the dashboard for displaying<a name="line.91"></a>
<span class="sourceLineNo">092</span>     * @param distance Distance the encoder has traveled (in inches)<a name="line.92"></a>
<span class="sourceLineNo">093</span>     * @param linearSpeed Linear speed of the encoder (in ft/s)<a name="line.93"></a>
<span class="sourceLineNo">094</span>     * @param wheelDiameter Diameter of the wheel (used to calculate RPM)<a name="line.94"></a>
<span class="sourceLineNo">095</span>     * @param name Name of the encoder to display on the dashboard<a name="line.95"></a>
<span class="sourceLineNo">096</span>     * @param mod1 Module of the first PWM (1 or 2)<a name="line.96"></a>
<span class="sourceLineNo">097</span>     * @param slot1 Slot of the first PWM (1 through 14)<a name="line.97"></a>
<span class="sourceLineNo">098</span>     * @param mod2 Module of the second PWM (1 or 2)<a name="line.98"></a>
<span class="sourceLineNo">099</span>     * @param slot2 Slot of the second PWM (1 through 14)<a name="line.99"></a>
<span class="sourceLineNo">100</span>     * @throws IOException <a name="line.100"></a>
<span class="sourceLineNo">101</span>     */<a name="line.101"></a>
<span class="sourceLineNo">102</span>    public void sendEncoder(double distance, double linearSpeed, double wheelDiameter, String name, int mod1, <a name="line.102"></a>
<span class="sourceLineNo">103</span>            int slot1, int mod2, int slot2) throws IOException {<a name="line.103"></a>
<span class="sourceLineNo">104</span>        /* Send the encoder value to the dashboard<a name="line.104"></a>
<span class="sourceLineNo">105</span>         * Value: distance (in inches) - 2 Decimal Places<a name="line.105"></a>
<span class="sourceLineNo">106</span>         * Arguments:<a name="line.106"></a>
<span class="sourceLineNo">107</span>         *   Linear Speed (in ft/s) - 2 Decimal Places<a name="line.107"></a>
<span class="sourceLineNo">108</span>         *   Wheel Diameter (in inches) - 2 Decimal Places<a name="line.108"></a>
<span class="sourceLineNo">109</span>         *   Name<a name="line.109"></a>
<span class="sourceLineNo">110</span>         *   Module1 Slot1 (###)<a name="line.110"></a>
<span class="sourceLineNo">111</span>         *   Module2 Slot2 (###)<a name="line.111"></a>
<span class="sourceLineNo">112</span>         */<a name="line.112"></a>
<span class="sourceLineNo">113</span>        distance = MathTools.round(distance, 2);<a name="line.113"></a>
<span class="sourceLineNo">114</span>        linearSpeed = MathTools.round(linearSpeed, 2);<a name="line.114"></a>
<span class="sourceLineNo">115</span>        wheelDiameter = MathTools.round(wheelDiameter, 2);<a name="line.115"></a>
<span class="sourceLineNo">116</span>        con.send(ProtocolParsing.StringParser.createMessage(ProtocolParsing.Command.Send, <a name="line.116"></a>
<span class="sourceLineNo">117</span>                ProtocolParsing.Key.EncoderValue, ""+distance, new String[]{""+linearSpeed, ""+wheelDiameter, name, <a name="line.117"></a>
<span class="sourceLineNo">118</span>                    ""+mod1+(slot1&lt;10?"0"+slot1:""+slot1), ""+mod2+(slot2&lt;10?"0"+slot2:""+slot2)}));<a name="line.118"></a>
<span class="sourceLineNo">119</span>    }<a name="line.119"></a>
<span class="sourceLineNo">120</span>    /**<a name="line.120"></a>
<span class="sourceLineNo">121</span>     * Send the PWM value to the dashboard for displaying<a name="line.121"></a>
<span class="sourceLineNo">122</span>     * @param value Raw PWM Value (0 - 255)<a name="line.122"></a>
<span class="sourceLineNo">123</span>     * @param name Name for the PWM Channel to display<a name="line.123"></a>
<span class="sourceLineNo">124</span>     * @param mod Module Number (1 or 2)<a name="line.124"></a>
<span class="sourceLineNo">125</span>     * @param slot Slot Number (1 through 10)<a name="line.125"></a>
<span class="sourceLineNo">126</span>     * @param pt PWM Device Type (Jaguar, Victor, Servo, etc)<a name="line.126"></a>
<span class="sourceLineNo">127</span>     * @throws IOException <a name="line.127"></a>
<span class="sourceLineNo">128</span>     */<a name="line.128"></a>
<span class="sourceLineNo">129</span>    public void sendPWM(int value, String name, int mod, int slot, PWMType pt) throws IOException {<a name="line.129"></a>
<span class="sourceLineNo">130</span>        /* Send the value to the dashboard<a name="line.130"></a>
<span class="sourceLineNo">131</span>         * Value: Raw PWM Value (0 - 255)<a name="line.131"></a>
<span class="sourceLineNo">132</span>         * Arguments:<a name="line.132"></a>
<span class="sourceLineNo">133</span>         *   Name<a name="line.133"></a>
<span class="sourceLineNo">134</span>         *   Module Slot (###)<a name="line.134"></a>
<span class="sourceLineNo">135</span>         *   PWM Device Type<a name="line.135"></a>
<span class="sourceLineNo">136</span>         */<a name="line.136"></a>
<span class="sourceLineNo">137</span>        con.send(ProtocolParsing.StringParser.createMessage(ProtocolParsing.Command.Send,<a name="line.137"></a>
<span class="sourceLineNo">138</span>                ProtocolParsing.Key.PWMValue, ""+value, new String[]{name, mod+(slot&lt;10?"0"+slot:""+slot), pt.toString()}));<a name="line.138"></a>
<span class="sourceLineNo">139</span>    }<a name="line.139"></a>
<span class="sourceLineNo">140</span>    /**<a name="line.140"></a>
<span class="sourceLineNo">141</span>     * Send the value of the relay to the dashboard for displaying<a name="line.141"></a>
<span class="sourceLineNo">142</span>     * @param v Relay Value<a name="line.142"></a>
<span class="sourceLineNo">143</span>     * @param name Name of the relay to display<a name="line.143"></a>
<span class="sourceLineNo">144</span>     * @param mod Module number (1 or 2)<a name="line.144"></a>
<span class="sourceLineNo">145</span>     * @param slot Slot number (1 through 8)<a name="line.145"></a>
<span class="sourceLineNo">146</span>     * @param dir Relay Direction<a name="line.146"></a>
<span class="sourceLineNo">147</span>     * @throws IOException <a name="line.147"></a>
<span class="sourceLineNo">148</span>     */<a name="line.148"></a>
<span class="sourceLineNo">149</span>    public void sendRelay(Relay.Value v, String name, int mod, int slot, Relay.Direction dir) throws IOException {<a name="line.149"></a>
<span class="sourceLineNo">150</span>        /* Send the value to the dashboard<a name="line.150"></a>
<span class="sourceLineNo">151</span>         * Value: PWM Value (0, 1 or -1)<a name="line.151"></a>
<span class="sourceLineNo">152</span>         * Arguments:<a name="line.152"></a>
<span class="sourceLineNo">153</span>         *   Name<a name="line.153"></a>
<span class="sourceLineNo">154</span>         *   Module Slot (##)<a name="line.154"></a>
<span class="sourceLineNo">155</span>         *   Direction (0, 1 or -1)<a name="line.155"></a>
<span class="sourceLineNo">156</span>         */<a name="line.156"></a>
<span class="sourceLineNo">157</span>        con.send(ProtocolParsing.StringParser.createMessage(ProtocolParsing.Command.Send,<a name="line.157"></a>
<span class="sourceLineNo">158</span>                ProtocolParsing.Key.RelayValue, ""+new int[]{0,1,1,-1}[v.value], <a name="line.158"></a>
<span class="sourceLineNo">159</span>                new String[]{name, ""+mod+slot, ""+new int[]{0,1,-1}[dir.value]}));<a name="line.159"></a>
<span class="sourceLineNo">160</span>    }<a name="line.160"></a>
<span class="sourceLineNo">161</span>    /**<a name="line.161"></a>
<span class="sourceLineNo">162</span>     * Send solenoid value to the dashboard<a name="line.162"></a>
<span class="sourceLineNo">163</span>     * @param on Whether the solenoid is on or not<a name="line.163"></a>
<span class="sourceLineNo">164</span>     * @param name Name of the solenoid to display<a name="line.164"></a>
<span class="sourceLineNo">165</span>     * @param slot Slot number (1 through 8)<a name="line.165"></a>
<span class="sourceLineNo">166</span>     * @throws IOException <a name="line.166"></a>
<span class="sourceLineNo">167</span>     */<a name="line.167"></a>
<span class="sourceLineNo">168</span>    public void sendSolenoid(boolean on, String name, int slot) throws IOException {<a name="line.168"></a>
<span class="sourceLineNo">169</span>        /* Send the solenoid value to the dashboard<a name="line.169"></a>
<span class="sourceLineNo">170</span>         * Value: 1 or 0<a name="line.170"></a>
<span class="sourceLineNo">171</span>         * Arguments:<a name="line.171"></a>
<span class="sourceLineNo">172</span>         *   Name<a name="line.172"></a>
<span class="sourceLineNo">173</span>         *   Slot<a name="line.173"></a>
<span class="sourceLineNo">174</span>         */<a name="line.174"></a>
<span class="sourceLineNo">175</span>        con.send(ProtocolParsing.StringParser.createMessage(ProtocolParsing.Command.Send, <a name="line.175"></a>
<span class="sourceLineNo">176</span>                ProtocolParsing.Key.SolenoidValue, on?"1":"0", new String[]{name, ""+slot}));<a name="line.176"></a>
<span class="sourceLineNo">177</span>    }<a name="line.177"></a>
<span class="sourceLineNo">178</span>    /**<a name="line.178"></a>
<span class="sourceLineNo">179</span>     * Send a raw message to the dashboard<a name="line.179"></a>
<span class="sourceLineNo">180</span>     * @param msg Message to send<a name="line.180"></a>
<span class="sourceLineNo">181</span>     * @throws IOException <a name="line.181"></a>
<span class="sourceLineNo">182</span>     */<a name="line.182"></a>
<span class="sourceLineNo">183</span>    public void sendRaw(String msg) throws IOException {<a name="line.183"></a>
<span class="sourceLineNo">184</span>        con.send(msg);<a name="line.184"></a>
<span class="sourceLineNo">185</span>    }<a name="line.185"></a>
<span class="sourceLineNo">186</span>    /**<a name="line.186"></a>
<span class="sourceLineNo">187</span>     * Analog Device Type<a name="line.187"></a>
<span class="sourceLineNo">188</span>     * @author Brian Ashworth<a name="line.188"></a>
<span class="sourceLineNo">189</span>     * @version 1.0<a name="line.189"></a>
<span class="sourceLineNo">190</span>     */<a name="line.190"></a>
<span class="sourceLineNo">191</span>    public static final class AnalogType {<a name="line.191"></a>
<span class="sourceLineNo">192</span>        /**<a name="line.192"></a>
<span class="sourceLineNo">193</span>         * Used to identify an accelerometer<a name="line.193"></a>
<span class="sourceLineNo">194</span>         */<a name="line.194"></a>
<span class="sourceLineNo">195</span>        public static final AnalogType ACCELEROMETER = new AnalogType('A');<a name="line.195"></a>
<span class="sourceLineNo">196</span>        /**<a name="line.196"></a>
<span class="sourceLineNo">197</span>         * Used to identify a gyro<a name="line.197"></a>
<span class="sourceLineNo">198</span>         */<a name="line.198"></a>
<span class="sourceLineNo">199</span>        public static final AnalogType GYRO = new AnalogType('G');<a name="line.199"></a>
<span class="sourceLineNo">200</span>        /**<a name="line.200"></a>
<span class="sourceLineNo">201</span>         * Used to identify an unknown analog value<a name="line.201"></a>
<span class="sourceLineNo">202</span>         */<a name="line.202"></a>
<span class="sourceLineNo">203</span>        public static final AnalogType UNKNOWN = new AnalogType('U');<a name="line.203"></a>
<span class="sourceLineNo">204</span>        /**<a name="line.204"></a>
<span class="sourceLineNo">205</span>         * Shorthand character that identifies the device type<a name="line.205"></a>
<span class="sourceLineNo">206</span>         */<a name="line.206"></a>
<span class="sourceLineNo">207</span>        public char shorthand;<a name="line.207"></a>
<span class="sourceLineNo">208</span>        /**<a name="line.208"></a>
<span class="sourceLineNo">209</span>         * An analog device identifier<a name="line.209"></a>
<span class="sourceLineNo">210</span>         * @param shorthand Character that identifies the device type<a name="line.210"></a>
<span class="sourceLineNo">211</span>         */<a name="line.211"></a>
<span class="sourceLineNo">212</span>        private AnalogType(char shorthand) {<a name="line.212"></a>
<span class="sourceLineNo">213</span>            this.shorthand = shorthand;<a name="line.213"></a>
<span class="sourceLineNo">214</span>        }<a name="line.214"></a>
<span class="sourceLineNo">215</span>        /**<a name="line.215"></a>
<span class="sourceLineNo">216</span>         * Retrieves the shorthand character<a name="line.216"></a>
<span class="sourceLineNo">217</span>         * @return shorthand character that identifies the device type<a name="line.217"></a>
<span class="sourceLineNo">218</span>         */<a name="line.218"></a>
<span class="sourceLineNo">219</span>        public char getShorthand() {<a name="line.219"></a>
<span class="sourceLineNo">220</span>            return shorthand;<a name="line.220"></a>
<span class="sourceLineNo">221</span>        }<a name="line.221"></a>
<span class="sourceLineNo">222</span>        /**<a name="line.222"></a>
<span class="sourceLineNo">223</span>         * Override of java.lang.Object.toString. Turns the object into a String<a name="line.223"></a>
<span class="sourceLineNo">224</span>         * @return String representation of the object<a name="line.224"></a>
<span class="sourceLineNo">225</span>         */<a name="line.225"></a>
<span class="sourceLineNo">226</span>        public String toString() {<a name="line.226"></a>
<span class="sourceLineNo">227</span>            return ""+shorthand;<a name="line.227"></a>
<span class="sourceLineNo">228</span>        }<a name="line.228"></a>
<span class="sourceLineNo">229</span>    }<a name="line.229"></a>
<span class="sourceLineNo">230</span>    /**<a name="line.230"></a>
<span class="sourceLineNo">231</span>     * PWM Device Identifier<a name="line.231"></a>
<span class="sourceLineNo">232</span>     * @author Brian Ashworth<a name="line.232"></a>
<span class="sourceLineNo">233</span>     * @version 1.0<a name="line.233"></a>
<span class="sourceLineNo">234</span>     */<a name="line.234"></a>
<span class="sourceLineNo">235</span>    public static final class PWMType {<a name="line.235"></a>
<span class="sourceLineNo">236</span>        /**<a name="line.236"></a>
<span class="sourceLineNo">237</span>         * Used to identify a jaguar<a name="line.237"></a>
<span class="sourceLineNo">238</span>         */<a name="line.238"></a>
<span class="sourceLineNo">239</span>        public static final PWMType JAGUAR = new PWMType('J');<a name="line.239"></a>
<span class="sourceLineNo">240</span>        /**<a name="line.240"></a>
<span class="sourceLineNo">241</span>         * Used to identify a servo<a name="line.241"></a>
<span class="sourceLineNo">242</span>         */<a name="line.242"></a>
<span class="sourceLineNo">243</span>        public static final PWMType SERVO = new PWMType('S');<a name="line.243"></a>
<span class="sourceLineNo">244</span>        /**<a name="line.244"></a>
<span class="sourceLineNo">245</span>         * Used to identify a talon<a name="line.245"></a>
<span class="sourceLineNo">246</span>         */<a name="line.246"></a>
<span class="sourceLineNo">247</span>        public static final PWMType TALON = new PWMType('T');<a name="line.247"></a>
<span class="sourceLineNo">248</span>        /**<a name="line.248"></a>
<span class="sourceLineNo">249</span>         * Used to identify an unknown PWM device<a name="line.249"></a>
<span class="sourceLineNo">250</span>         */<a name="line.250"></a>
<span class="sourceLineNo">251</span>        public static final PWMType UNKNOWN = new PWMType('U');<a name="line.251"></a>
<span class="sourceLineNo">252</span>        /**<a name="line.252"></a>
<span class="sourceLineNo">253</span>         * Used to identify a victor<a name="line.253"></a>
<span class="sourceLineNo">254</span>         */<a name="line.254"></a>
<span class="sourceLineNo">255</span>        public static final PWMType VICTOR = new PWMType('V');<a name="line.255"></a>
<span class="sourceLineNo">256</span>        /**<a name="line.256"></a>
<span class="sourceLineNo">257</span>         * Shorthand character that identifies a PWM device type<a name="line.257"></a>
<span class="sourceLineNo">258</span>         */<a name="line.258"></a>
<span class="sourceLineNo">259</span>        public char shorthand;<a name="line.259"></a>
<span class="sourceLineNo">260</span>        /**<a name="line.260"></a>
<span class="sourceLineNo">261</span>         * PWM Device Identifier<a name="line.261"></a>
<span class="sourceLineNo">262</span>         * @param shorthand Character that represents the device type<a name="line.262"></a>
<span class="sourceLineNo">263</span>         */<a name="line.263"></a>
<span class="sourceLineNo">264</span>        private PWMType(char shorthand) {<a name="line.264"></a>
<span class="sourceLineNo">265</span>            this.shorthand = shorthand;<a name="line.265"></a>
<span class="sourceLineNo">266</span>        }<a name="line.266"></a>
<span class="sourceLineNo">267</span>        /**<a name="line.267"></a>
<span class="sourceLineNo">268</span>         * Retrieves the character that identifies the device type<a name="line.268"></a>
<span class="sourceLineNo">269</span>         * @return The device type identifier<a name="line.269"></a>
<span class="sourceLineNo">270</span>         */<a name="line.270"></a>
<span class="sourceLineNo">271</span>        public char getShorthand() {<a name="line.271"></a>
<span class="sourceLineNo">272</span>            return shorthand;<a name="line.272"></a>
<span class="sourceLineNo">273</span>        }<a name="line.273"></a>
<span class="sourceLineNo">274</span>        /**<a name="line.274"></a>
<span class="sourceLineNo">275</span>         * Override of java.lang.Object.toString. Returns a string representation of the object.<a name="line.275"></a>
<span class="sourceLineNo">276</span>         * @return String representation of the object.<a name="line.276"></a>
<span class="sourceLineNo">277</span>         */<a name="line.277"></a>
<span class="sourceLineNo">278</span>        public String toString() {<a name="line.278"></a>
<span class="sourceLineNo">279</span>            return ""+shorthand;<a name="line.279"></a>
<span class="sourceLineNo">280</span>        }<a name="line.280"></a>
<span class="sourceLineNo">281</span>    }<a name="line.281"></a>
<span class="sourceLineNo">282</span>    /**<a name="line.282"></a>
<span class="sourceLineNo">283</span>     * The ConnectionListener interface has the method declarations for the <a name="line.283"></a>
<span class="sourceLineNo">284</span>     * methods that get called when an event happens on the communication<a name="line.284"></a>
<span class="sourceLineNo">285</span>     * channel. The following events are currently supported: onConnect,<a name="line.285"></a>
<span class="sourceLineNo">286</span>     * onDisconnect, and onDataReceived.<a name="line.286"></a>
<span class="sourceLineNo">287</span>     * @author Brian Ashworth<a name="line.287"></a>
<span class="sourceLineNo">288</span>     * @version 1.0<a name="line.288"></a>
<span class="sourceLineNo">289</span>     */<a name="line.289"></a>
<span class="sourceLineNo">290</span>    public static interface ConnectionListener {<a name="line.290"></a>
<span class="sourceLineNo">291</span>        /**<a name="line.291"></a>
<span class="sourceLineNo">292</span>         * This listener method gets called when a connection is made<a name="line.292"></a>
<span class="sourceLineNo">293</span>         */<a name="line.293"></a>
<span class="sourceLineNo">294</span>        public void onConnect();<a name="line.294"></a>
<span class="sourceLineNo">295</span>        /**<a name="line.295"></a>
<span class="sourceLineNo">296</span>         * This listener method gets called when a connection is lost<a name="line.296"></a>
<span class="sourceLineNo">297</span>         */<a name="line.297"></a>
<span class="sourceLineNo">298</span>        public void onDisconnect();<a name="line.298"></a>
<span class="sourceLineNo">299</span>        /**<a name="line.299"></a>
<span class="sourceLineNo">300</span>         * This listener method gets called when a message from the dashboard is received.<a name="line.300"></a>
<span class="sourceLineNo">301</span>         * @param msg Message from the dashboard<a name="line.301"></a>
<span class="sourceLineNo">302</span>         */<a name="line.302"></a>
<span class="sourceLineNo">303</span>        public void onDataReceived(String msg);<a name="line.303"></a>
<span class="sourceLineNo">304</span>    }<a name="line.304"></a>
<span class="sourceLineNo">305</span>    /**<a name="line.305"></a>
<span class="sourceLineNo">306</span>     * The Connection class establishes the communication channel from the robot<a name="line.306"></a>
<span class="sourceLineNo">307</span>     * to the laptop (and vise versa).<a name="line.307"></a>
<span class="sourceLineNo">308</span>     * @author Brian Ashworth<a name="line.308"></a>
<span class="sourceLineNo">309</span>     * @version 1.0<a name="line.309"></a>
<span class="sourceLineNo">310</span>     */<a name="line.310"></a>
<span class="sourceLineNo">311</span>    private static class Connection implements ConnectionListener {<a name="line.311"></a>
<span class="sourceLineNo">312</span>        /**<a name="line.312"></a>
<span class="sourceLineNo">313</span>         * Listener for this connection<a name="line.313"></a>
<span class="sourceLineNo">314</span>         */<a name="line.314"></a>
<span class="sourceLineNo">315</span>        private ConnectionListener listener;<a name="line.315"></a>
<span class="sourceLineNo">316</span>        /**<a name="line.316"></a>
<span class="sourceLineNo">317</span>         * Socket connection between the laptop and the cRIO. This is the client side.<a name="line.317"></a>
<span class="sourceLineNo">318</span>         */<a name="line.318"></a>
<span class="sourceLineNo">319</span>        private SocketConnection socket;<a name="line.319"></a>
<span class="sourceLineNo">320</span>        /**<a name="line.320"></a>
<span class="sourceLineNo">321</span>         * Reader for the input stream. The input stream is to the cRIO<a name="line.321"></a>
<span class="sourceLineNo">322</span>         */<a name="line.322"></a>
<span class="sourceLineNo">323</span>        private InputStreamReader reader;<a name="line.323"></a>
<span class="sourceLineNo">324</span>        /**<a name="line.324"></a>
<span class="sourceLineNo">325</span>         * The Writer for the output stream. The output stream is from the cRIO.<a name="line.325"></a>
<span class="sourceLineNo">326</span>         */<a name="line.326"></a>
<span class="sourceLineNo">327</span>        private BufferedWriter writer;<a name="line.327"></a>
<span class="sourceLineNo">328</span>        /**<a name="line.328"></a>
<span class="sourceLineNo">329</span>         * Queue of queried items<a name="line.329"></a>
<span class="sourceLineNo">330</span>         */<a name="line.330"></a>
<span class="sourceLineNo">331</span>        private String[][][] queue = new String[0][0][0];<a name="line.331"></a>
<span class="sourceLineNo">332</span>        /**<a name="line.332"></a>
<span class="sourceLineNo">333</span>         * Establish a client connection from the cRIO to the dashboard<a name="line.333"></a>
<span class="sourceLineNo">334</span>         * @param host IP Address of laptop<a name="line.334"></a>
<span class="sourceLineNo">335</span>         * @param port Port that the dashboard is listening on<a name="line.335"></a>
<span class="sourceLineNo">336</span>         * @param cl Listener for this connection<a name="line.336"></a>
<span class="sourceLineNo">337</span>         * @throws IOException <a name="line.337"></a>
<span class="sourceLineNo">338</span>         */<a name="line.338"></a>
<span class="sourceLineNo">339</span>        public Connection(String host, int port, ConnectionListener cl) throws IOException {<a name="line.339"></a>
<span class="sourceLineNo">340</span>            // Set listener if null to this (dummy) or if not null to the listener<a name="line.340"></a>
<span class="sourceLineNo">341</span>            listener = cl==null?this:cl;<a name="line.341"></a>
<span class="sourceLineNo">342</span>            <a name="line.342"></a>
<span class="sourceLineNo">343</span>            // Connect to server (in this case the dashboard on the laptop)<a name="line.343"></a>
<span class="sourceLineNo">344</span>            socket = (SocketConnection) Connector.open("socket://"+host+":"+port);<a name="line.344"></a>
<span class="sourceLineNo">345</span>            reader = new InputStreamReader(socket.openDataInputStream());<a name="line.345"></a>
<span class="sourceLineNo">346</span>            writer = new BufferedWriter(new OutputStreamWriter(socket.openDataOutputStream()));<a name="line.346"></a>
<span class="sourceLineNo">347</span>            <a name="line.347"></a>
<span class="sourceLineNo">348</span>            // Listen for events every 10ms<a name="line.348"></a>
<span class="sourceLineNo">349</span>            final java.util.Timer t = new java.util.Timer();<a name="line.349"></a>
<span class="sourceLineNo">350</span>            t.schedule(new java.util.TimerTask(){<a name="line.350"></a>
<span class="sourceLineNo">351</span>                public void run(){<a name="line.351"></a>
<span class="sourceLineNo">352</span>                    if (socket==null) {<a name="line.352"></a>
<span class="sourceLineNo">353</span>                        t.cancel();<a name="line.353"></a>
<span class="sourceLineNo">354</span>                        return;<a name="line.354"></a>
<span class="sourceLineNo">355</span>                    }<a name="line.355"></a>
<span class="sourceLineNo">356</span>                    try {<a name="line.356"></a>
<span class="sourceLineNo">357</span>                        if (reader.ready()) {<a name="line.357"></a>
<span class="sourceLineNo">358</span>                            // Read length byte<a name="line.358"></a>
<span class="sourceLineNo">359</span>                            int length = reader.read();<a name="line.359"></a>
<span class="sourceLineNo">360</span>                            // Read for length bytes<a name="line.360"></a>
<span class="sourceLineNo">361</span>                            int offset = 0;<a name="line.361"></a>
<span class="sourceLineNo">362</span>                            char[] buffer = new char[length];<a name="line.362"></a>
<span class="sourceLineNo">363</span>                            while (length!=0) {<a name="line.363"></a>
<span class="sourceLineNo">364</span>                                int read = reader.read(buffer, offset, length);<a name="line.364"></a>
<span class="sourceLineNo">365</span>                                offset+=read;<a name="line.365"></a>
<span class="sourceLineNo">366</span>                                length-=read;<a name="line.366"></a>
<span class="sourceLineNo">367</span>                                if (read==-1) {<a name="line.367"></a>
<span class="sourceLineNo">368</span>                                    break;<a name="line.368"></a>
<span class="sourceLineNo">369</span>                                }<a name="line.369"></a>
<span class="sourceLineNo">370</span>                            }<a name="line.370"></a>
<span class="sourceLineNo">371</span>                            // Turn buffer into String<a name="line.371"></a>
<span class="sourceLineNo">372</span>                            String msg = String.valueOf(buffer);<a name="line.372"></a>
<span class="sourceLineNo">373</span>                            // Check to see if disconnected<a name="line.373"></a>
<span class="sourceLineNo">374</span>                            if (msg.equals("[Disconnected]")) {<a name="line.374"></a>
<span class="sourceLineNo">375</span>                               socket = null;<a name="line.375"></a>
<span class="sourceLineNo">376</span>                               reader = null;<a name="line.376"></a>
<span class="sourceLineNo">377</span>                               writer = null;<a name="line.377"></a>
<span class="sourceLineNo">378</span>                               listener.onDisconnect();<a name="line.378"></a>
<span class="sourceLineNo">379</span>                            } else if (ProtocolParsing.StringParser.isReply(msg)) {<a name="line.379"></a>
<span class="sourceLineNo">380</span>                                // Add reply to the queue<a name="line.380"></a>
<span class="sourceLineNo">381</span>                                String key = ProtocolParsing.StringParser.getKey(msg).shorthand;<a name="line.381"></a>
<span class="sourceLineNo">382</span>                                String value = ProtocolParsing.StringParser.getValue(msg);<a name="line.382"></a>
<span class="sourceLineNo">383</span>                                String[] args = ProtocolParsing.StringParser.getArgs(msg);<a name="line.383"></a>
<span class="sourceLineNo">384</span>                                updateQueue(key, value, args);<a name="line.384"></a>
<span class="sourceLineNo">385</span>                            } else {<a name="line.385"></a>
<span class="sourceLineNo">386</span>                                // Send to the connection listener<a name="line.386"></a>
<span class="sourceLineNo">387</span>                                listener.onDataReceived(msg);<a name="line.387"></a>
<span class="sourceLineNo">388</span>                            }<a name="line.388"></a>
<span class="sourceLineNo">389</span>                        }<a name="line.389"></a>
<span class="sourceLineNo">390</span>                    } catch (Exception e) {<a name="line.390"></a>
<span class="sourceLineNo">391</span>                        System.err.println(e.getClass()+": "+e.getMessage());<a name="line.391"></a>
<span class="sourceLineNo">392</span>                    }<a name="line.392"></a>
<span class="sourceLineNo">393</span>                }<a name="line.393"></a>
<span class="sourceLineNo">394</span>            },1,10);<a name="line.394"></a>
<span class="sourceLineNo">395</span>            <a name="line.395"></a>
<span class="sourceLineNo">396</span>            listener.onConnect();<a name="line.396"></a>
<span class="sourceLineNo">397</span>        }<a name="line.397"></a>
<span class="sourceLineNo">398</span><a name="line.398"></a>
<span class="sourceLineNo">399</span>        /**<a name="line.399"></a>
<span class="sourceLineNo">400</span>         * Remove all null indices from queue and shrink down to size<a name="line.400"></a>
<span class="sourceLineNo">401</span>         */<a name="line.401"></a>
<span class="sourceLineNo">402</span>        private void cleanQueue() {<a name="line.402"></a>
<span class="sourceLineNo">403</span>            // Remove null indices from queue<a name="line.403"></a>
<span class="sourceLineNo">404</span>            int nc = 0;<a name="line.404"></a>
<span class="sourceLineNo">405</span>            for (int i=0;i&lt;queue.length;i++) {<a name="line.405"></a>
<span class="sourceLineNo">406</span>                if (queue[i]==null) {<a name="line.406"></a>
<span class="sourceLineNo">407</span>                    nc++;<a name="line.407"></a>
<span class="sourceLineNo">408</span>                }<a name="line.408"></a>
<span class="sourceLineNo">409</span>            }<a name="line.409"></a>
<span class="sourceLineNo">410</span>            String[][][] newQueue = new String[queue.length-nc][3][0];<a name="line.410"></a>
<span class="sourceLineNo">411</span>            int index = 0;<a name="line.411"></a>
<span class="sourceLineNo">412</span>            for (int i=0;i&lt;queue.length;i++) {<a name="line.412"></a>
<span class="sourceLineNo">413</span>                if (queue[i]!=null) {<a name="line.413"></a>
<span class="sourceLineNo">414</span>                    newQueue[index++] = queue[i];<a name="line.414"></a>
<span class="sourceLineNo">415</span>                }<a name="line.415"></a>
<span class="sourceLineNo">416</span>            }<a name="line.416"></a>
<span class="sourceLineNo">417</span>        }<a name="line.417"></a>
<span class="sourceLineNo">418</span>        /**<a name="line.418"></a>
<span class="sourceLineNo">419</span>         * Retrieve a key from the queue<a name="line.419"></a>
<span class="sourceLineNo">420</span>         * @param key Key to retrieve<a name="line.420"></a>
<span class="sourceLineNo">421</span>         * @return The value (and args) that correspond to the key or null if not found<a name="line.421"></a>
<span class="sourceLineNo">422</span>         */<a name="line.422"></a>
<span class="sourceLineNo">423</span>        public String[][] getKeyFromQueue(ProtocolParsing.Key key) {<a name="line.423"></a>
<span class="sourceLineNo">424</span>            return getKeyFromQueue(key.shorthand);<a name="line.424"></a>
<span class="sourceLineNo">425</span>        }<a name="line.425"></a>
<span class="sourceLineNo">426</span>        /**<a name="line.426"></a>
<span class="sourceLineNo">427</span>         * Retrieve a key from the queue<a name="line.427"></a>
<span class="sourceLineNo">428</span>         * @param key Key to retrieve<a name="line.428"></a>
<span class="sourceLineNo">429</span>         * @return The value (and args) that correspond to the key or null if not found<a name="line.429"></a>
<span class="sourceLineNo">430</span>         */<a name="line.430"></a>
<span class="sourceLineNo">431</span>        public String[][] getKeyFromQueue(String key) {<a name="line.431"></a>
<span class="sourceLineNo">432</span>            for (int i=0; i&lt;queue.length; i++) {<a name="line.432"></a>
<span class="sourceLineNo">433</span>                if (queue[i]!=null&amp;&amp;queue[i][0]!=null&amp;&amp;queue[i][0][0].equals(key)) {<a name="line.433"></a>
<span class="sourceLineNo">434</span>                    String[][] value = queue[i];<a name="line.434"></a>
<span class="sourceLineNo">435</span>                    queue[i] = null;<a name="line.435"></a>
<span class="sourceLineNo">436</span>                    cleanQueue();<a name="line.436"></a>
<span class="sourceLineNo">437</span>                    return value;<a name="line.437"></a>
<span class="sourceLineNo">438</span>                }<a name="line.438"></a>
<span class="sourceLineNo">439</span>            }<a name="line.439"></a>
<span class="sourceLineNo">440</span>            return null;<a name="line.440"></a>
<span class="sourceLineNo">441</span>        }<a name="line.441"></a>
<span class="sourceLineNo">442</span>        /**<a name="line.442"></a>
<span class="sourceLineNo">443</span>         * Dummy onConnect listener method<a name="line.443"></a>
<span class="sourceLineNo">444</span>         */<a name="line.444"></a>
<span class="sourceLineNo">445</span>        public void onConnect() {<a name="line.445"></a>
<span class="sourceLineNo">446</span>        }<a name="line.446"></a>
<span class="sourceLineNo">447</span><a name="line.447"></a>
<span class="sourceLineNo">448</span>        /**<a name="line.448"></a>
<span class="sourceLineNo">449</span>         * Dummy onDisconnect listener method<a name="line.449"></a>
<span class="sourceLineNo">450</span>         */<a name="line.450"></a>
<span class="sourceLineNo">451</span>        public void onDisconnect() {<a name="line.451"></a>
<span class="sourceLineNo">452</span>        }<a name="line.452"></a>
<span class="sourceLineNo">453</span><a name="line.453"></a>
<span class="sourceLineNo">454</span>        /**<a name="line.454"></a>
<span class="sourceLineNo">455</span>         * Dummy onDataReceived listener method<a name="line.455"></a>
<span class="sourceLineNo">456</span>         * @param msg Message received<a name="line.456"></a>
<span class="sourceLineNo">457</span>         */<a name="line.457"></a>
<span class="sourceLineNo">458</span>        public void onDataReceived(String msg) {<a name="line.458"></a>
<span class="sourceLineNo">459</span>        }<a name="line.459"></a>
<span class="sourceLineNo">460</span>        <a name="line.460"></a>
<span class="sourceLineNo">461</span>        /**<a name="line.461"></a>
<span class="sourceLineNo">462</span>         * Send message to the dashboard<a name="line.462"></a>
<span class="sourceLineNo">463</span>         * @param msg Message to send<a name="line.463"></a>
<span class="sourceLineNo">464</span>         * @throws IOException <a name="line.464"></a>
<span class="sourceLineNo">465</span>         */<a name="line.465"></a>
<span class="sourceLineNo">466</span>        public void send(String msg) throws IOException {<a name="line.466"></a>
<span class="sourceLineNo">467</span>            writer.write(""+(char)msg.length());<a name="line.467"></a>
<span class="sourceLineNo">468</span>            writer.write(msg);<a name="line.468"></a>
<span class="sourceLineNo">469</span>            writer.flush();<a name="line.469"></a>
<span class="sourceLineNo">470</span>        }<a name="line.470"></a>
<span class="sourceLineNo">471</span>        <a name="line.471"></a>
<span class="sourceLineNo">472</span>        /**<a name="line.472"></a>
<span class="sourceLineNo">473</span>         * Add item to the queue<a name="line.473"></a>
<span class="sourceLineNo">474</span>         * @param key Key of the queued item<a name="line.474"></a>
<span class="sourceLineNo">475</span>         * @param val Value of the queued item<a name="line.475"></a>
<span class="sourceLineNo">476</span>         * @param args Args of the queued item<a name="line.476"></a>
<span class="sourceLineNo">477</span>         */<a name="line.477"></a>
<span class="sourceLineNo">478</span>        private void updateQueue(String key, String val, String[] args) {<a name="line.478"></a>
<span class="sourceLineNo">479</span>            String[][][] newQueue = new String[queue.length+1][3][0];<a name="line.479"></a>
<span class="sourceLineNo">480</span>            System.arraycopy(queue, 0, newQueue, 0, queue.length);<a name="line.480"></a>
<span class="sourceLineNo">481</span>            newQueue[queue.length] = new String[][]{new String[]{key}, new String[]{val}, args};<a name="line.481"></a>
<span class="sourceLineNo">482</span>            queue = newQueue;<a name="line.482"></a>
<span class="sourceLineNo">483</span>            cleanQueue();<a name="line.483"></a>
<span class="sourceLineNo">484</span>        }<a name="line.484"></a>
<span class="sourceLineNo">485</span>    }<a name="line.485"></a>
<span class="sourceLineNo">486</span>}<a name="line.486"></a>




























































</pre>
</div>
</body>
</html>
